Control Architecture

The Reflex supports a combination of PID and INDI control architectures. It is recommended to begin with configuring and tuning the PID controller as the INDI controller relies on certain parameters that need to be estimated from flight data. For detailed instructions on tuning each of the controller gains, please refer to the Tuning Guide.

Before configuring the INDI controller, ensure that all dependent settings for INDI are properly configured following the guidelines outlined in Configuring INDI. This step is crucial to optimize the performance of the INDI control algorithm and ensure smooth and stable flight operations.

PID Control Architecture

  1. Roll-Pitch Controller:
    The Roll-Pitch controller is responsible for stabilizing the drone's roll and pitch angles. It consists of a P gain acting on attitude error and PID gains acting on velocity error.
  2. Yaw Controller: The Yaw controller is responsible for stabilizing the drone's yaw angle. It consists of a P gain acting on attitude error and PID gains acting on velocity error.
  3. Vertical Controller:
    The Vertical controller is responsible for maintaining the drone's desired altitude and velocity. It consists of a P gain acting on altitude error and PID gains acting on velocity error.
  4. Horizontal Controller:
    The Horizontal controller is responsible for maintaining the desired position and velocity. It consists of a P gain acting on position error and PID gains acting on velocity error.

INDI Control Architecture

  1. Roll-Pitch Controller:
    The Roll-Pitch controller is responsible for stabilizing the drone's roll and pitch angles. It consists of a P gain acting on attitude error and PD gains acting on velocity error. The INDI control algorithm acts on the accelerations.
  2. Yaw Controller: The Yaw controller in INDI controller is same as the one in the PID control architecture.
  3. Vertical Controller:
    The Vertical controller is responsible for maintaining the drone's desired altitude and velocity. It consists of a P gain acting on altitude error and PD gains acting on velocity error. The INDI control algorithm acts on the accelerations.
  4. Horizontal Controller:
    The Horizontal controller is responsible for maintaining the desired position and velocity. It consists of a P gain acting on position error and PD gains acting on velocity error. The INDI control algorithm acts on the accelerations.